fixed missing /

ctu-mrs · Mar 18, 2024 · 4663790 · 4663790
1 parent 0896fcd
commit 4663790
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/sensor_and_model_plugins/link_static_tf_publisher.cpp b/src/sensor_and_model_plugins/link_static_tf_publisher.cpp
@@ -70,8 +70,8 @@ class LinkStaticTFPublisher : public ModelPlugin {
     // Publish the transform
     geometry_msgs::TransformStamped transformStamped;
     transformStamped.header.stamp            = ros::Time::now();
-    transformStamped.header.frame_id         = robotNamespace + parentLinkName.erase(parentLinkName.find("_link"), std::string("_link").length());
-    transformStamped.child_frame_id          = robotNamespace + childLinkName.erase(childLinkName.find("_link"), std::string("_link").length());
+    transformStamped.header.frame_id         = robotNamespace + "/" + parentLinkName.erase(parentLinkName.find("_link"), std::string("_link").length());
+    transformStamped.child_frame_id          = robotNamespace + "/" + childLinkName.erase(childLinkName.find("_link"), std::string("_link").length());
     transformStamped.transform.translation.x = relativePose.Pos().X();
     transformStamped.transform.translation.y = relativePose.Pos().Y();
     transformStamped.transform.translation.z = relativePose.Pos().Z();
@@ -80,7 +80,7 @@ class LinkStaticTFPublisher : public ModelPlugin {
     transformStamped.transform.rotation.y    = relativePose.Rot().Y();
     transformStamped.transform.rotation.z    = relativePose.Rot().Z();
     tf_broadcaster.sendTransform(transformStamped);
-    ROS_INFO_STREAM("[LinkStaticTFPublisher]: Published static TF between frames \"" << robotNamespace << parentLinkName << "\", \""  << robotNamespace << childLinkName << "\"");
+    ROS_INFO_STREAM("[LinkStaticTFPublisher]: Published static TF between frames \"" << robotNamespace << "/" << parentLinkName << "\", \""  << robotNamespace << "/" << childLinkName << "\"");
   }
 };